Question:
How is the speed-proportional phase offset under C4060 to be set for the ECS Posi&Shaft and what does the setting depend on?
Answer:
The speed-proportional phase offset under C4060 is used for speed-proportional phase trimming for the 'electrical shaft' function. The setpoint transmission via CAN or classical digital frequency coupling leads to a leading or lagging of the slave drive. Speed-proportionally, this leads to a corresponding dyncamic phase offset during the motion process which is compensated again to zero at standstill. The dynamic phase offset can be compensated by a corresponding setting of C4060 in the electrical shaft slaves.
The settings for C4060 depend on the following parameters of the electrical shaft configuration:
Use of ECS Posi&Shaft as electrical shaft master, Setpoint cycle (big influence) Synchronisation phase C1122 (big influence) CAN baud rate C0351 (little influence) The negative sign of the value for C4060 recommended in the Operating Instructions results from the leading of the slave drive over the master actually available in this electrical shaft configuration.
When bigger setpoint cycles are selected, leading changes to lagging and the settings for C4060 are getting positive, see table.
A higher CAN baud rate C0351 = 1000 kbit/s results in an additional leading of the slave by 0.065 ms compared to 500 kbit/s. The additional leading results from the shorter propagation time of the CAN sync telegram. The C4060 setting for 1000 kbit/s results from the values for 500 kbit/s adapted by (-)1065 inc.
C4060 settings as a function of the synchronisation phase C1122 for a master setpoint cycle of 2 ms and C0351 = 500 kbit/s (extract of attachment):
C1122 C4060 0.8 ms (-)16400 inc
1.0 ms (-)13125 inc
1.2 ms (-)9850 inc
For further settings for different setpoint cycles and baud rates, please see the attachment.
